Travel planning system, travel planning method, and non-transitory computer readable medium

ABSTRACT

According to one embodiment, a travel planning system for a plurality of mobile objects which travel in a travel network including a plurality of traveling paths includes first processing circuitry and second processing circuitry. The first processing circuitry generates a plurality of traveling timing schedules including timings of traveling on the traveling paths for the plurality of mobile objects under a condition that conflict among the mobile objects does not occur on the traveling paths, based on: position information of the plurality of mobile objects;structure information of the travel network; and a plurality of route plans which designates order of passing through one or more designated areas in the travel network for the plurality of mobile objects. The second processing circuitry transmits movement command data for the plurality of mobile objects on a basis of the plurality of traveling timing schedules.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority fromthe prior Japanese Patent Application No. 2019-046459, filed on Mar. 13,2019, the entire contents of which are incorporated herein by reference.

FIELD

The present disclosure relates to a travel planning system, a travelplanning method, and a non-transitory computer readable medium.

BACKGROUND

In recent years, along with generalization of high-mix low-volumeproduction, flexibility has been required in production process. Forexample, respective steps in a production line are modularized andfreely reassembled, an AGV (Automatic Guided Vehicle) performsconveyance between the steps, and a working mobile robot with an arm iscaused to work while moving among a plurality of work areas.

Further, with a serious manpower shortage at logistics sites asbackground, approaches for saving manpower are accelerating indistribution centers of online shopping, and the like. For example, theapproaches include combination of: an AGV or an autonomous travelingforklift; and a picking robot.

Still further, along with development of autonomous driving technologyof vehicles, trials for autonomous valet parking in which vehicles arecaused to autonomously travel and park at a parking area in an unmannedstate have reached practical use. Also, traveling of an unmannedconstruction mobile object which is remotely operated at a constructionsite, a mine, or the like, have reached practical use.

To efficiently control movement of a number of autonomous travelingmobile objects in a narrow area, it is necessary to avoid conflict amongthe mobile objects, such as a collision and/or deadlock. Until now, theconflict has been typically avoided by providing in advance travelingpaths with a plurality of lines on which mobile objects can travel inboth directions at the same time, a plurality of one-way loops, anddedicated traveling paths and traveling space in a grid shape, or thelike.

In a related art, on the assumption that such dedicated traveling paths,or the like, are used, a plan is made so that movement in reversedirections on the same traveling path does not occur in all paths of themobile objects. However, in a case where a stepwise introduction ispromoted while existing paths which are also used by workers arediverted, a system which can generally make a travel plan is required inthe following cases: a case where traveling paths of a shape in whichmovement in the both directions occurs is used, and a case where a pathon which movement in both directions occurs is designated in advance fora reason of safety, or the like. It is difficult to apply theabove-described related art under this condition.

Further, as another related art, a traveling plan of a mobile object isdetermined (a mobile object is reserved) one by one, and a travelingplan of the next mobile object is determined so that traveling in adirection reverse to that of the mobile object reserved previously doesnot occur. In this related art, there has been a problem that travelingefficiency is largely affected by reservation order of mobile objects,which degrades entire efficiency.

Further, use of dedicated traveling paths, or the like, requiresconstruction cost, and there is also a problem that stepwise change oftraveling path layout after utilization is started is not easy.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example of an entire systemconfiguration of a travel planning system according to a firstembodiment;

FIG. 2 is a diagram illustrating an example where a plurality of mobileobjects travel in a travel network;

FIGS. 3A and 3B each is a diagram illustrating an example of conflictoccurring between mobile objects;

FIGS. 4A to 4C show a diagram illustrating an example of travelingnetwork structure information;

FIGS. 5A and 5B show a diagram illustrating another example of thetraveling network structure information;

FIGS. 6A and 6B each is a diagram illustrating an example of a routeplan;

FIG. 7 is a diagram illustrating an example of a travel timing scheduleof each of a plurality of mobile objects;

FIG. 8 illustrates an example of part of a travel plan;

FIG. 9 is a diagram illustrating a flowchart of processing of the travelplanning system;

FIG. 10 is a diagram illustrating a flowchart of detailed processing ofa travel timing schedule;

FIGS. 11A to 11C show a diagram illustrating an example of conflictcheck and avoidance processing;

FIGS. 12A to 12D show a diagram illustrating another example of theconflict check and avoidance processing;

FIG. 13 is a conceptual diagram of search processing of a travel timingschedule;

FIG. 14 is a hardware block diagram of a travel planning device;

FIG. 15 is a diagram illustrating an example of an entire systemconfiguration including a travel planning system according to a secondembodiment; and

FIG. 16 is a diagram illustrating an example of an entire systemconfiguration including a travel planning system according to a thirdembodiment.

DETAILED DESCRIPTION

According to one embodiment, a travel planning system for a plurality ofmobile objects which travel in a travel network including a plurality oftraveling paths includes first processing circuitry and secondprocessing circuitry.

The first processing circuitry generates a plurality of traveling timingschedules including timings of traveling on the traveling paths for theplurality of mobile objects under a condition that conflict among themobile objects does not occur on the traveling paths, based on: positioninformation of the plurality of mobile objects; structure information ofthe travel network; and a plurality of route plans which designatesorder of passing through one or more designated areas in the travelnetwork for the plurality of mobile objects.

The second processing circuitry transmits movement command data for theplurality of mobile objects on a basis of the plurality of travelingtiming schedules.

Below, embodiments will be described below with reference to thedrawings.

First Embodiment

FIG. 1 illustrates an example of an entire system configurationincluding a travel planning system according to a first embodiment. Theentire system configuration includes a travel planning system 1, aplurality of mobile objects (or mobile entities) 301_1 to 301_N, aplurality of sensors 401_1 to 401_M, and a plurality of communicationdevices 501_1 to 501_K. The travel planning system 1 includes a travelplanning device 100 and a travel management device 200. An arbitrarymobile object will be described as a mobile object 301. An arbitrarysensor will be described as a sensor 401. An arbitrary communicationdevice will be described as a communication device 501.

The travel planning device 100 and the travel management device 200 mayexist on the same computer system. Alternatively, the travel planningdevice 100 and the travel management device 200 may exist on differentcomputer systems and may be connected to each other via a network.

The travel planning system 1 efficiently controls operation of a numberof mobile objects autonomously traveling at low speed in a travelnetwork including a plurality of traveling paths disposed in a narrowarea as a whole so that conflict such as deadlock and a collision doesnot occur.

The mobile objects 301_1 to 301_N are mobile objects which canautonomously move such as AGVs (Automatic Guided Vehicles), autonomousmobile robots, and autonomous traveling vehicles (for example,autonomous traveling vehicles). The mobile objects 301_1 to 301_N travelin a travel network disposed in an area such as, for example, in afactory, in a warehouse, and in a facility site. The mobile objects301_1 to 301_N include storage batteries (batteries) as an example, andoperate using power stored in the batteries.

FIG. 2 is a top view schematically illustrating aspect where operationof a plurality of mobile objects is controlled in the travel network.The travel network using guide tapes 10 is disposed on a floor of acertain facility. The travel network is configured by linear guide tapes10 being combined as traveling paths. While, in this example, individualtraveling paths have a linear shape, the shape is merely an example. Thetraveling paths may have a curved shape or a shape in which a linearline and a curved line are combined. Note that there are a plurality ofmethods other than the method using guide tapes, such as a method inwhich markers are disposed at points on the traveling paths, and amethod in which the mobile object itself detects an own position andtravels on a virtual travel network. The method for realizing the travelnetwork is not limited here.

The mobile objects 12A, 12B, 12C, 12D, 12E, 12F, 12G, 12H, 12I, 123, 12Kand 12L, which correspond to the mobile object 301 in FIG. 1, can movein an anterior direction, in a posterior direction or both in theanterior direction and in the posterior direction along the guide tapes10. The mobile objects may be configured to be able to rotate so that ananterior portion and a posterior portion are inverted. Further, themobile objects may be configured to be able to move in directions otherthan the anterior direction and the posterior direction, such as anoblique direction depending on a shape of the traveling path. Carry-inentrances 13A, 13B, 13C, 13D, 13E and 13F and shelves 14A, 14B, 14C, 14Dand 14E are provided at end portions of the traveling paths, nearintersection portions (for example, junction portions) of the travelingpaths, in midstream of the traveling paths (between both ends of thetraveling paths) and other arbitrary portions. At all or part of theshelves 14A to 14E and the carry-in entrances 13A to 13F located at theend portions of the traveling paths, near the intersection portions ofthe traveling paths, in midstream of the traveling paths (between theboth ends of the traveling paths) and at other arbitrary portions,sensors 401 and communication devices 501 (not illustrated in FIG. 2) inFIG. 1 are disposed.

The mobile objects 12A to 12L move on the respective traveling pathsunder management by the travel planning system 1 in FIG. 1 and do workinstructed in advance. For example, the mobile objects 12A to 12Lreceive package from the carry-in entrances, carry the received baggageto the shelves and pile up the package. Further, the mobile objects 12Ato 12L carry down the package from the shelves and carry the package tothe carry-in entrances. Double circles in the drawing schematicallyindicate the package. Each mobile object automatically performs themovement and work on the basis of movement command data provided fromthe travel planning system 1. Note that the work is not limited toconveyance of package, and can be merely movement without work.

The travel planning device 100 according to the present embodimentgenerates a route plan indicating a plurality of paths (i.e., a route)on which each mobile object should travel on the basis of content ofwork and order of work to be done by each mobile object. There is also acase where a route plan of each mobile object is provided in advance.The travel planning device 100 generates a travel timing schedule inwhich timings of travel of each mobile object on traveling paths areincluded on the basis of the route plan so that a collision or deadlockdoes not occur at each mobile object. The travel management device 200controls operation of each mobile object by transmitting the movementcommand data based on the travel timing schedule of each mobile objectto each mobile object. Further, the travel management device 200 detectsa traveling state of each mobile object and manages operation of eachmobile object.

Here, the deadlock is a state where an arbitrary mobile object cannotmove to an arbitrary intersection portion (for example, a junctionportion) or to an end portion of a traveling path in the travelingnetwork. The collision is contact between a mobile object and anothermobile object.

FIG. 3A illustrates an example of the deadlock, and FIG. 3B illustratesan example of the collision. In FIG. 3A, two mobile objects travel indirections reverse to each other on the same traveling path. It isassumed that the two mobile objects can only move forward. In this case,the two mobile objects cannot move to an arbitrary intersection portionor end portion, and deadlock occurs. In FIG. 3B, while two mobileobjects travel in the same direction on the same traveling path, becausespeed of the mobile object which travels behind is higher than speed ofthe mobile object which travels ahead, the mobile object which travelsbehind collides with the mobile object which travels ahead.

Occurrence of deadlock or a collision in this manner will be expressedas conflict (or interference) between mobile objects. However, theconflict is not limited to this example. For example, the conflict maybe arrival of two mobile objects at an intersection portion (junctionportion) at the same time. Further, the conflict may be a state where,in a state where one or more mobile objects wait at an intersectionportion leading to a traveling path, another mobile object travels onthe traveling path.

The travel planning system 1 in FIG. 1 realizes efficient operation ofthe respective mobile objects without causing conflict (such as acollision or deadlock) among the respective mobile objects.

The travel planning device 100 in FIG. 1 includes a traveling networkstructure storage 101, a route plan storage 102, a travel plan storage103, a state storage 104, a travel timing scheduler 105, an updateposition determiner 106, a commander 107, a replan determiner 108, aroute planner 109 and communicator 110. An input device (for example, amouse, a keyboard or a touch panel) for a user of the present device 100to input various kinds of instructions or data may be provided. Further,a display device (for example, a liquid crystal display or an organicelectroluminescence display) which displays data within each storage ordata generated at each part may be provided in the device 100.

The elements included in the travel planning device 100 may beconfigured by one or more circuitry. For example, the elements 105, 106,108, 109 may be configured by first processing circuitry, and theelement 107 may be configured by second processing circuitry. Theelement 100 may be configured by communication circuitry. Anycombinations of the first processing circuitry, the second processingcircuitry and the communication circuitry may be physically samehardware or may be different hardware. The other hardware configurationmay be possible.

The communicator 110 of the travel planning device 100 performscommunication with a communicator 201 of the travel management device200. Communication between the communicator 110 and the communicator 201may be wireless communication or wired communication. The communicator201 of the travel management device 200 performs communication with thecommunicator 110 of the travel planning device 100 and the mobile object301. Communication between the communicator 201 and the mobile object301 is wireless communication. However, wired communication is notexcluded. Part or all of the mobile objects 301 may not performcommunication with the communicator 201. However, also in this case, themobile object 301 can perform communication with the communicationdevice 501 (which will be described later) provided on any path side.The mobile object 301 can perform communication with the communicationdevice 501 within a communication possible range of the communicationdevice 501. In a case where the travel planning device 100 and thetravel management device 200 are the same device, the communicator 110may be omitted.

The traveling network structure storage 101 stores informationindicating a structure of the travel network (traveling networkstructure information) inside. The traveling network structureinformation can be expressed as a graph structure including, forexample, a plurality of nodes and a plurality of arcs (traveling paths)connecting between the nodes.

FIGS. 4A to 4C illustrate an example of the traveling network structureinformation. Individual traveling paths are indicated with linescoupling between the nodes. Each circle in FIG. 4A indicates a node, aline connecting between the circles indicates an arc (traveling path).The node indicates an end portion of a traveling path, and anintersection portion of traveling paths. A portion (or an area)designated in advance in the travel network will be referred to as adesignated area. A position (or an area) arbitrarily determined by theuser can be set as the designated area. An arbitrary position (or anarbitrary area) such as a position where package is to be piled up or tobe carried down and a waiting position can be designated as thedesignated area. As an example, the position includes an end portion ofthe traveling path leading to the intersection portion, an end portionof the traveling path not leading to the intersection portion (dead endof the traveling path). In addition, an arbitrary position of thetraveling path (for example, an arbitrary position between both ends ofthe traveling path) may be set as the designated area. The intersectionportion itself may be set as the designated area. The mobile objectpasses through the designated area or temporarily stays in thedesignated area. Examples where the mobile object temporarily stays mayinclude temporary stop for working, temporary stop for waiting untilanother mobile object passes through the traveling path, stop until thenext work occurs while there is no work to be done, waiting for charginga battery mounted on the mobile object, parking in a case where themobile object is an autonomous driving vehicle, or the like.

FIG. 4B indicates node IDs, X coordinate and Y coordinate as detailedinformation of the nodes. For example, coordinate of the node A is (X,Y)=(20, 20).

FIG. 4C indicates traveling path IDs, and IDs of nodes at both ends ofthe traveling paths as detailed information of the traveling paths. Forexample, an ID of the traveling path between the nodes A and B is 1, andthe nodes at both ends of the traveling path are A and B. A distancebetween nodes (distance of an arc) may be included in the travelingnetwork structure information in association with the traveling path ID.Alternatively, the distance of the arc may be calculated on the basis ofpositions of the nodes at the both sides.

FIGS. 5A and 5B illustrate another example of the traveling networkstructure information. FIG. 5A is a diagram in which part of nodes isomitted from the traveling network structure information in FIG. 4 andonly specific nodes are left. The specific nodes are nodes in thedesignated area or near the designated area; a position where package isto be piled up or to be carried down and/or a waiting position.

FIG. 5B illustrates traveling IDs of the respective traveling paths, IDsof nodes at both ends of the traveling paths, and standard time srequired for traveling on the respective traveling paths. For example, atraveling ID of the traveling path between the nodes B and C is 1, nodesat both ends of the traveling path are B and C, and a standard timerequired for traveling on the traveling path is 180. Any time unit maybe used.

The route planner 109 generates a route plan designating passing orderof a plurality of designated areas which each mobile object passesthrough on the basis of content of work to be done by each mobile objectdetermined in advance and information regarding order of the work, andstores data of the generated route plan in the route plan storage 102.While an arbitrary generation method of a route plan may be employed, asan example, a route plan of each mobile object may be generated so as toreduce a traveling distance in which a plurality of mobile objectstravel in reverse directions on the same traveling path, as anevaluation criterion or part of the evaluation criterion as possible.The route plan may be generated by an external device or the user. Inthis case, the route planner 109 receives the route plan and stores theroute plan in the route plan storage 102. The route planner 109 mayreceive data of the route plan from the external device via thecommunicator 110. The route planner 109 may acquire data of the routeplan via an input device operated by the user.

The route plan storage 102 stores data of the route plan of each mobileobject inside.

FIG. 6A illustrates an example of the route plan of a certain mobileobject. In this example, the mobile object departs from a designatedarea L in FIG. 4A, goes to a designated area B by way of K, I, G, E, Cand A, and, then, goes to a designated area M by way of A, C, D, F, E,G, H, J, I and K, goes to the designated area B again by way of K, I, G,E, C and A, and, further returns to the designated area L by way of A,C, D, F, E, G, H, J, I and K. Here, for convenience sake, the designatedareas are expressed using IDs of the nodes. In a case where a nodecorresponds to the intersection portion, a designated area using an IDof the node is internally interpreted as expressing an end portion of atraveling path (before entering the intersection portion) connected tothe intersection portion indicated by the node. For example, adesignated area K which is the next designated area of the designatedarea L is interpreted as indicating an end portion of a traveling pathLK immediately before entering the intersection portion indicated by thenode K. Here, the traveling path LK is a traveling path between the nodeL and the node K. While the designated areas will be indicated using thenode IDs also in the following description, it is assumed that thedesignated areas are indicated in a similar manner to that describedhere.

The traveling paths in the above-described example include a looped pathwhich goes back and forth in the designated area. This route plan isdirected to one mobile object, and route plans are also prepared forother respective mobile objects. Note that the traveling path does nothave to be a looped path. The respective mobile objects may travel ondifferent traveling paths over a long period.

In a case of a mobile object directed to conveyance of package, a mobilerobot which does various kinds of work while moving, or the like,information of the work may be added to the route plan for thedesignated area in which work is to be done.

FIG. 6B illustrates an example of the route plan in this case. In thisexample, information (Load) which gives an instruction to do work ofloading package from a shelf in the designated areas L and M andinformation (Unload) which gives an instruction to do work of unloadingpackage in the designated area B are inserted. Here, Load indicatespackage loading work, and Unload indicates package unloading work. Notethat a direction of work (piling up etc.) to be done for a shelf beingworking target may be determined in advance or may be automaticallydetected by the mobile object using a sensor, or the like. The examplesof the direction of work include a left direction, a right direction, ananterior direction and an oblique direction.

The state storage 104 stores information indicating traveling states ofthe respective mobile objects and specific information of the mobileobjects inside.

The information indicating the traveling states of the mobile objectsmay include position information of the respective mobile objects,remaining battery levels of batteries mounted on the mobile objects,whether or not the mobile objects have package (in a case where themobile objects convey package), types and the number of pieces ofpackage which are being conveyed, or the like. The position informationincludes current positions (positions which are detected most recently)of the mobile objects, and history information of positions which therespective mobile objects have passed through until now. The informationindicating the traveling states is acquired by a state detector 202(which will be described later) of the travel management device 200 aswill be described later.

The specific information of the mobile objects may include, for example,specification information of the mobile objects, such as standard speed,maximum speed, minimum speed, sizes of the mobile objects and directionsin which the mobile objects can move. Further, the information mayinclude a change rate of the standard speed in accordance with theremaining battery levels (for example, as the remaining battery level islower, the standard speed is set lower). Still further, if the mobileobjects are directed to conveyance of package, the information mayinclude information of length of a working period required for carryingdown package (for example, a length of period required for piling up orcarrying down a predetermined number of pieces of package). Theinformation described here is merely an example, and the information mayinclude other information.

The travel timing scheduler 105 generates a travel timing schedule sothat conflict (a collision or deadlock) does not occur for each mobileobject which is a planning target under constraint conditions that theroute plan of each mobile object is not changed. The travel timingschedule includes information for specifying arrival time or departuretime for each designated area as an example. There are, for example,time of arrival at the designated area, time of departure from thedesignated area, a length of a period spent (i.e., staying) in thedesignated area, a length of period for moving between the designatedareas, or the like.

The mobile objects which become targets of planning of the travel timingschedules are all the mobile objects whose operation is managed by thetravel management device 200 as an example. The travel timing scheduler105 uses a route plan of each mobile object and information of eachmobile object to generate the travel timing schedule of each mobileobject. The information of each mobile object includes informationindicating the traveling state and specific information as describedbefore.

The travel timing scheduler 105 regenerates a travel timing schedule ofeach mobile object in a case where it is determined to regenerate atravel timing schedule by the replan determiner 108 which will bedescribed later. The travel timing schedules generated previously areupdated with the regenerated travel timing schedules. Regeneration ofthe travel timing schedules is performed for traveling paths (routeportions) in which the mobile objects have not moved yet among travelingpaths indicated in the route plans of the mobile objects. That is, theregeneration of the travel timing schedules is performed, among thetraveling paths of the mobile objects, for traveling paths after updatepositions in the routes of the mobile objects as be described later.

FIG. 7 illustrates an example of the travel timing schedules generatedby the travel timing scheduler 105. An example of the travel timingschedules for three mobile objects (AGV 0, AGV 1 and AGV 2) isindicated.

“MOVE” is a command (move command) for giving an instruction to move,and has a movement period length as an argument. For example, in thetravel timing schedule for the AGV 0, MOVE-K-I-37.0 indicates movementfrom the designated area K (end portion of the traveling path LK leadingto the intersection portion indicated by the node K) to the designatedarea I (end portion of the traveling path KI leading to the intersectionportion indicated by the node I) in 37 time units. 37 time units is amovement period length designated as an argument.

“WAIT” is a command (wait command) for giving an instruction to wait inthe designated area (before the node) of the movement destination. Forexample, in a case where a command of MOVE-I-G-10.0 is continuous with acommand of WAIT-52.0, the commands indicate waiting for 52 time units inthe designated area G (before the node G) when the mobile object movesfrom the designated area I to the designated area G. Therefore, in thiscase, the mobile object moves to the designated area G in 10 time unitswith MOVE-I-G-10.0, waits for 52 time units and moves in accordance withthe next command (enters the intersection portion indicated by the nodeG and further enters the next traveling path). The waiting position maynot be a designated area. The waiting position only has to be a positiondistant from the intersection portion.

In the present example, in the route plan of the mobile object AGV 0, aroute (traveling paths) is designated in which the mobile object departsfrom the designated area L in FIG. 4A, goes to the designated area B byway of other designated areas, and, then, goes to M by way of otherdesignated areas, goes to B again by way of other designated areas andreturns to L by way of other designated areas.

In the route plan of the mobile object AGV 1, a route (traveling paths)is designated in which the mobile object repeats twice departing fromthe designated area B in FIG. 4A, going to the designated area M by wayof other designated areas, and returning to the designated area B againby way of other designated areas.

In the route plan of the mobile object AGV 2, a route (traveling paths)is designated in which the mobile object departs from the designatedarea K in FIG. 4A, goes to the designated area B by way of otherdesignated areas, goes to B again by way of other designated areasincluding the designated area L and returns to the designated area K byway of other designated areas.

The travel timing scheduler 105 generates the traveling timing schedulesfor the AGV 0, the AGV 1 and the AGV 2 as illustrated in FIG. 7 byexecuting search algorithm which will be described later underconditions that these route plans (see FIG. 6) of the AGV 0, the AGV 1and the AGV 2 are provided. In these traveling timing schedules, forexample, adjustment of time such arrival time, departure time, or thelike, of the AGV 0, the AGV 1 and the AGV 2 for each designated area isperformed so as not to cause conflict (such as a collision anddeadlock). The example of the adjustment includes time adjustment bywhich the mobile object is caused to wait before the intersectionportion until another mobile object passes through the intersectionportion are adjusted.

The travel timing scheduler 105 may assume that the mobile objects moveat the standard speed for each traveling path in the traveling networkstructure information in FIG. 4 in order to calculate a movement periodlength designated as the argument in the MOVE command. A standard periodlength for the traveling path may be provided in advance as in thetraveling network structure information in FIG. 5 in view of a casewhere speed of the mobile object changes from the standard speed inaccordance with a curvature, inclination, or the like, of the travelingpath. In this case, the mobile objects may autonomously control movementspeed between maximum speed and minimum speed so as to be able to movein the standard period. Further, there can be a case where the standardspeed may be corrected by change rates provided in accordance with theremaining battery levels. Still further, if the mobile objects aredirected to conveyance of package, the standard speed may be correctedto faster or slower while the mobile objects convey package. Further,the standard period length during which the mobile objects travel oneach traveling path may be corrected on the basis of traveling resultdata. The travel timing scheduler 105 calculates a movement periodlength so as to satisfy conditions regarding speed as stated in theabove.

The travel timing scheduler 105 generates traveling timing scheduleswhile reflecting information of a working period length required forcarrying down package for mobile objects which are directed toconveyance of package or mobile robots which do various kinds of workincluding carrying down of package. As indicated in the above-describedroute plan (see FIG. 6B), content of work to be done in the designatedarea may be designated. Further, content of work to be done by themobile objects in the designated area may be determined in advance inaccordance with pairs of the designated areas and types of mobileobjects.

In the example of the traveling timing schedules illustrated in FIG. 7,it is assumed that it takes 40 time units to pile up package in thedesignated areas M and L, and it takes 130 time units to carry downpackage in the designated area B. Values depending on types and thenumber of pieces of package, or types of mobile objects are provided inadvance as working period lengths for piling up and carrying down ofpackage. These values may be stored in the state storage 104 or may beprovided to the route plans. Further, the working period lengths may becorrected on the basis of the traveling result data. A command whichinstructs the mobile objects to do the wok may be provided in thetraveling timing schedules for the designated area where the work is tobe done. Alternatively, such an instruction command may be embedded inadvance as a program code inside the mobile objects.

While a format of the traveling timing schedules illustrated in FIG. 7is a format in which commands for the mobile objects are lined up, theformat is merely an example. A format of the traveling timing schedulesis not particularly limited. The traveling timing schedules only have toinclude information from which time at which the mobile objects shouldarrive and time at which the mobile objects should depart can bespecified for part of the designated areas or all the designated areasin the route plans of the respective mobile objects.

The travel timing scheduler 105 generates a travel plan of each mobileobject on the basis of the travel timing schedule of each mobile objectand the route plan of each mobile object. Specifically, the traveltiming scheduler 105 generates a travel plan of each mobile object bysetting, for part or all of the designated areas in the route plan ofthe mobile object, information from which time at which the mobileobject should arrive and time at which the mobile object should departcan be specified.

The travel plan storage 103 stores the travel plans of the respectivemobile objects generated by the travel timing scheduler 105.

FIG. 8 illustrates part of a travel plan of the mobile object (AGV 0) inFIG. 7. Time information of the travel timing schedule of the AGV 0 inFIG. 7 is provided to the route plan in FIG. 6. The AGV 0 departs fromthe designated area L at time 0, arrives at the designated area K attime 70, departs without stopping (that is, passing through thedesignated area K at time 70), passes through the designated area I attime 107, arrives at the designated area G at time 117, waits there in52 time units, and departs at time 169. A format of the travel planillustrated in FIG. 8 is merely an example, and the format is notparticularly limited. For example, the travel plan may be a plan inwhich the travel timing schedule is merely associated with the routeplan.

The commander 107 transmits movement command data based on the traveltiming schedule of each mobile object determined by the travel timingscheduler 105 to the travel management device 200 via the communicator110. The travel management device 200 receives the movement command dataof each mobile object from the communicator 110 of the travel planningdevice 100 via the communicator 201 and transmits the movement commanddata to each mobile object.

A first example of a form of the movement command data to be transmittedto each mobile object is a form which indicates information from whicharrival time and departure time for part or all of the designated areason the route plan of each mobile object can be specified. For example,in a case of the travel timing schedule in FIG. 7, because the planitself is a command sequence, this may be used as is as the movementcommand data. Alternatively, in a case where a timing schedule having aformat different from that in FIG. 7 is generated, a command sequencewhich can be interpreted by the mobile object may be generated from thetravel timing schedule, and this command sequence may be used as themovement command data.

A second example of a form of the movement command data is a form whichindicates information corresponding to a movement period length of eachtraveling path and a waiting period length (waiting in the designatedarea).

In either of the above-described two examples, each mobile objectcontrols traveling by itself in accordance with the movement commanddata. The travel management device 200 may sequentially repeat totransmit a command which instructs each mobile object to depart from thedesignated area in which the mobile object waits, and a command whichdesignates the designated area in which the mobile object should stopfor waiting next, to each mobile object, on the basis of each piece ofmovement command data. In this case, each mobile object sequentiallyrepeats reception of commands from the travel management device 200 asthe movement command data and execution of the commands.

As a third example of the form of the movement command data, anintersection portion through which a plurality of mobile objects pass onthe route plan may be specified from the travel timing schedules, andorder in which the respective mobile objects pass through theintersection portion may be instructed to each mobile object. In thiscase, the intersection portion may be set as the designated area, andorder in which the mobile objects pass through the designated area maybe designated. By causing each mobile object to strictly meet thepassing order, even if actual arrival time is shifted before and behindfrom the arrival time at each designated area in the travel timingschedule, it is possible to ensure that conflict such as a collision anddeadlock does not occur. Note that the passing order of the respectivemobile objects for the designated area can be calculated by thetraveling timing schedules of the respective mobile objects beingcompared.

An example of commands which instruct order in which the respectivemobile objects pass through (arrive at) the designated area (describedas the designated area Ka) set at the intersection portion indicated bythe node K and time (elapsed time length) will be described below on thebasis of the traveling timing schedules of the respective mobile objects(AGV 0, AGV 1 and AGV 2) in FIG. 7.

-   AGV 2 0-   AGV 0 70-   AGV 1 205-   AGV 1 453-   AGV 2 593-   AGV 2 773-   AGV 0 920-   AGV 0 1168-   AGV 1 1218-   AGV 1 1466-   AGV 2 1606-   AGV 0 1925

In the above-described example, the AGV 2 passes through the designatedarea Ka first (at a time point of time 0), then, the AGV 0 passes at atime point of time 70, and then, the AGV 1 passes at a time point oftime 205. Interpretation will be possible in a similar manner in thefollowing description.

As an example of a control method of the passing order of the designatedareas, there is a method in which the travel management device 200manages execution of the movement commands. The travel management device200 includes a controller which manages execution of the movementcommand data (execution of the command). For example, the travelmanagement device 200 causes the AGV 0 to wait at a position before thedesignated area or distant from the designated area until the AGV 2passes in a case where the AGV 0 may first arrive at the designated areathrough which the AGV 2 is required to pass first. Alternatively, thetravel management device 200 adjusts speed of the AGV 0 to delay arrivaltime (passing time) of the AGV 0 at the designated area. The control isperformed by a wait command or a speed adjustment command (for example,a speed reduction command) being transmitted to the mobile object.

As another example of the control method, the travel management device200 detects and stores identification information (ID) of the mobileobject which passes through the designated area last via the statedetector 202, and transmits the ID to other mobile objects. Each mobileobject checks whether another mobile object which should pass before themobile object has passed through the designated area on the basis of theID received from the travel management device 200. For example, in acase of

-   AGV 0 70-   AGV 1 205-   AGV 1 453    in the above-described example of the command, the AGV 1 first    confirms whether or not the AGV 0 has passed first before the AGV 1    passes through the designated area Ka on the basis of the ID    received from the travel management device 200, and, after the AGV 1    has confirmed that the AGV 0 has passed first, the AGV 1 passes    through the designated area Ka. Further, thereafter, after the AGV 1    confirms that the mobile object which has passed through the    designated area Ka immediately before (last) is the AGV 1 itself,    AGV 1 passes through the designated area Ka again.

The replan determiner 108 compares the travel plan stored in the travelplan storage 103 with the traveling state of the mobile object detectedby the state detector 202, and determines whether or not to performreplan. Replan means update of the travel plan, that is, update of atleast timing schedule among the route plan and the travel timingschedule. In a case where it is judged by the replan determiner 108 thatthe travel plan cannot be met by at least one mobile object, a replantrigger is generated. Further, also in a case where replan becomesnecessary by external factors such as occurrence of new work to be doneand new package to be conveyed, a replan trigger is generated. All themobile objects for which plans are to be made become targets of thereplan. Examples where the travel plan cannot be met will be describedbelow as a first example and a second example.

(First example) Time (estimated arrival time) at which each mobileobject arrives at the designated area in the travel timing schedule ofeach mobile object or time (estimated departure time) at which eachmobile object departs is compared with the traveling state of eachmobile object. The traveling state includes, for example, a currentposition of the mobile object and a designated area through which themobile object passes last or from which the mobile object departs last.Then, at a time point at which it is determined that the mobile objectcannot arrive by the estimated arrival time or the mobile object will bedelayed by equal to or longer than a threshold time length for theestimated arrival time, the replan trigger is generated. To make thisjudgment, various kinds of assumption may be placed such as assumptionthat the mobile object moves on the traveling path at maximum possiblespeed or assumption that the mobile object moves at standard speed.

(second example) order in which the respective mobile objects passthrough the designated area in the traveling timing schedules of therespective mobile objects is compared with current positions of therespective mobile objects. Or, the order is compared with a designatedarea through which the mobile object has passed last or from which themobile object departs. Then, at a time point at which it is determinedthat the mobile object which should precede in the passing order of thedesignated area in the travel timing schedule will be delayed by equalto or longer than a threshold time length from time of arrival(estimated arrival time), the replan trigger is generated. For example,in a case where the mobile object which should precede will be late forthe estimated arrival time even if the mobile object moves on thetraveling path at maximum speed, it can be judged that delay by equal toor longer than a threshold time length is determined. Note that thesecond example is the same as the first example because, if focus isattention on the mobile object which should precede, the replan triggeris generated as a result of delay of arrival at the designated area ofthe mobile object which should precede.

The update position determiner 106 determines a position (updateposition) for which the travel plan should be updated for each mobileobject in a case where it is determined by the replan determiner 108 toperform replan. That is, the mobile object operates in accordance withthe travel plan before update (timing schedule before update) until themobile object reaches the update position, and, after the mobile objectreaches the update position, operates in accordance with the updatedtravel plan (updated timing schedule).

The update position may be an arbitrary position if each mobile objectcan perform communication with the travel management device 200 in realtime via the communicator 201. The arbitrary position includes, forexample, a current position of the mobile object, or a position at timeafter a certain margin is added to the current position in view of atime length required for calculation.

If the mobile objects can perform communication with the travelmanagement device 200 only via the communication device 501 disposed inthe designated area or near the designated area, the designated area ora position near the designated area may be set as the update position.The communication device 501 may be disposed in midstream of thetraveling path instead of being disposed in the designated area or nearthe designated area. The update position does not have to be thedesignated area or a position near the designated area if the positionis within a range where communication with the communication device 501is possible. In a case where there is a possibility that the mobileobject may hinder traveling of another mobile object by stopping inmidstream of the traveling path (for example, a possibility that themobile object may collide with a mobile object which comes from behind),a position immediately before the intersection portion to which themobile object currently heads may be as the update position. Theposition immediately before may be a designated area.

The route planner 109 generates a route plan starting from the updateposition of each mobile object for each mobile object in a case where itis determined by the replan determiner 108 to perform replan.

As an example, a plan for a route portion after the update position inthe current route plan is set as is as the updated route plan. That is,a route plan portion on which the mobile object has not moved yet isspecified among the route indicated in the route plan of the mobileobject, and the specified portion is set as the updated route plan. Thatis, a plan for a portion after the update position in the current routeplan is cut out as is, and sets as the updated route plan. For example,in the current route plan is a route plan in FIG. 6A, it is assumed thatthe current position of the mobile object is a designated area E (beforethe intersection portion indicated by the node E), and the next movementdestination is a node C (before the intersection portion indicated bythe node C). In this case, a route plan portion on which the mobileobject has not moved (updated route plan) becomes as follows by removingfirst four nodes L, K, I and G in FIG. 6A. (Updated route plan)

E, C, A, B, A, C, D, F, E, G, H, 3, I, K, M, K, I, G, E, C, A, B, A, C,D, F, E, G, H, J, I, K, L, K, I, G, E,

Alternatively, as another example, in a case where it is determined bythe replan determiner 108 to perform replan, the route planner 109 maygenerate a route plan of each mobile object on the basis of informationof a current position of each mobile object or information of the updateposition of each mobile object. Here, the replan is perforemd so as toreduce a sum of distances of traveling paths (traveling sections) onwhich a plurality of mobile objects travel in reverse directions at thesame time where the sum of distances is used as an evaluation criterionor part of the evaluation criterion.

Alternatively, as still another example, in a case where a plurality ofoptions for the route plan which can be utilized are provided in advancein accordance with a current position of each mobile object and contentof work to be done by each mobile object, one of the options may beselected on the basis of the update position of each mobile object andcontent of each remaining work. In addition, there is also a method inwhich a new route plan is generated using algorithm provided in advance.The update method of the route plan is not particularly limited here,and existing route planning methods may be used.

The travel timing scheduler 105 regenerates (updates) the travel timingschedule on the basis of the updated route plan for each mobile object.The travel timing scheduler 105 regenerates a travel plan by providingtime information for each designated area in the updated timing scheduleto the updated route plan. The travel timing scheduler 105 updates thetravel plan in the travel plan storage 103 with the regenerated travelplan.

The commander 107 transmits the movement command data based on theupdated timing schedule of each mobile object to the travel managementdevice 200. The travel management device 200 transmits the movementcommand data to each mobile object when each mobile object exists at theupdate position.

The travel management device 200 manages execution for causing eachmobile object to travel and manages the traveling state of each mobileobject in accordance with the movement command data of each mobileobject received from the travel planning device 100.

The communicator 201 of the travel management device 200 performscommunication with the mobile objects 301_1 to 301_N and the travelplanning device 100. Communication may be either wireless communicationor wired communication.

The state detector 202 of the travel management device 200 acquiresinformation indicating the traveling state of the mobile object usingthe communication device 501 or the sensor 401. The state detector 202may acquire information indicating the traveling state of the mobileobject using the communicator 201. The state detector 202 transmitsinformation indicating the traveling state of each mobile object to thetravel planning device 100 via the communicator 201. The informationindicating the traveling state of each mobile object may include time atwhich the traveling state of each mobile object is detected.

The sensor 401 is a sensor for detecting a state of the mobile object.The communication device 501 is a device which performs wirelesscommunication with the mobile object in a shorter distance than ofwireless communication performed by the communicator 201. The sensor 401and the communication device 501 are disposed at, for example, specificpositions on any traveling paths where the mobile object is likely totemporarily stop. The specific positions are designated areas orportions near the designated areas as an example.

The sensor 401 is a traveling path side sensor such as a proximitysensor, a pressure sensor and a photoelectric sensor as an example. Thesensor 401 detects arrival of the mobile object, passing, a direction,whether or not package is loaded, or the like, at the specificpositions. The sensor 401 may be a camera provided on a ceiling of afacility. In this case, an image inside the facility is captured withthe camera from a higher point of view from the ceiling. Further, thecommunication device 501 is a device which performs communication in arelatively short distance such as, for example, near field communicationand infrared communication. The communication device 501 can performwireless communication with the mobile object existing within acommunication range.

The sensor 401 transmits a signal indicating information detected fromthe mobile object to the state detector 202. The communication device501 transmits the information received from the mobile object to thestate detector 202.

The state detector 202 specifies the traveling state of the mobileobject on the basis of the information received from the sensor 401 orthe communication device 501. In a case where the sensor 401 is acamera, the state detector 202 specifies a position of each mobileobject on the basis of the captured image. By using the sensor 401 orthe communication device 501, it is possible to detect the travelingstate of the mobile object even when the mobile object exists at aposition where the mobile object cannot perform communication with thecommunicator 201.

Examples of the traveling state of the mobile object may include aposition of each mobile object (current position), time at which eachmobile object passes through the designated area, a traveling directionof each mobile object, whether or not each mobile object has package (ina case where each mobile object conveys package), or the like.

In a case where the mobile object has a function of performingself-position estimation at the own device, the state detector 202 mayacquire the position information estimated by the mobile object via thecommunicator 201 or the communication device 501. Examples of theself-position estimation may include estimation using means such as deadreckoning, SLAM and GPS.

Further, markers for position detection such as wireless tags andbarcodes may be provided at specific positions where the mobile objectsare likely to pass. The specific positions are designated areas orpositions near the designated areas as an example. In this case, by themobile objects detecting the markers, the mobile objects themselves candetect arrival at or passing through the positions. The mobile objectstransmit the detected information to the travel management device 200via the communicator 201 or the communication device 501.

Each mobile object 301 receives the movement command data from thetravel management device 200 and autonomously travels on the travelingpaths in accordance with the movement command data. As means forautonomous traveling, for example, as illustrated in FIG. 2 describedabove, there is means in which guide tapes are pasted on floor inadvance, and the mobile objects travel along the guide tapes. As anothermeans, there is means in which traveling in a certain distance isrepeated using dead reckoning while positions are corrected withmarkers, or means in which the mobile objects autonomously travelbetween designated areas using SLAM (Simultaneous Localization AndMapping), or the like.

FIG. 9 is a flowchart of overall operation of the travel planning system1. It is assumed that the route plan of each mobile object is providedin advance, the travel timing schedule is generated by the travel timingscheduler 105, and the travel plan in which the time information of thetravel timing schedule is provided to the route plan is generated. It isassumed that each mobile object operates on the basis of the movementcommand data based on the travel timing schedule. Note thatsupplementary explanation of operation upon start of operation of thetravel planning system 1 (the travel timing schedule has not beencreated yet, and each mobile object stops at an initial position) willbe provided as appropriate.

The state detector 202 of the travel management device 200 detects aposition and a traveling direction of each mobile object (step 11). Notethat, upon start of operation of the travel planning system 1, it isonly necessary to detect an initial position and a direction of eachmobile object. Note that, in a case of a mobile object which can turn atthe place and can move in all directions, there can be a case where atraveling direction is not detected.

The update position determiner 106 determines a position (updateposition) at which the travel plan of each mobile object is updated onthe basis of a current travel plan of each mobile object (step 12). Notethat, upon start of operation of the travel planning system 1, becausethe travel plan of each mobile object has not been generated yet, it isonly necessary to set an initial position of each mobile object as theupdate position.

The route planner 109 generates the route plan starting from the updateposition for each mobile object or extracts part of the route planprepared in advance. The previous route plan is updated with thegenerated or extracted route plan (step 13). Note that, upon start ofoperation of the travel planning system 1, it is only necessary togenerate the route plan starting from the initial position of eachmobile object or acquire the route plan from outside.

In a case where the route plans are not generated for all the mobileobjects (step 14: Yes), processing of the present flowchart is finished.For example, in a case where there is no package to be transported, nowork to be done, or the like, the route plan is not generated for themobile object. The present processing may be finished if update of thetravel timing schedule does not finish in time (for example, there is apossibility that current operation of all the mobile objects will finishbefore the travel timing schedule is updated). Alternatively, thepresent processing may be finished also in a case where it is determinedthat the route plan cannot be generated.

In a case where the route plan is updated (regenerated) for at least onemobile object (step 14: No), the travel timing scheduler 105 generatesthe travel timing schedule of each mobile object on the basis of theupdated route plan of the mobile object (step 15). The travel timingscheduler 105 generates the travel plans by providing time informationindicated in the travel timing schedules to the route plans. Note that,for the mobile object (for example, the mobile object whose operationhas been completed) for which the route plan does not exist, the traveltiming schedule is not generated. Note that, upon start of operation ofthe travel planning system 1, because the route plans for all the mobileobjects exist, traveling timing schedules for all these mobile objectsare generated.

The commander 107 generates the movement command data for each mobileobject on the basis of the travel timing schedule of each mobile object(step 16) and transmits the movement command data of each mobile objectto the travel management device 200.

The travel management device 200 transmits the movement command data toeach mobile object using the communicator 201 (step 17).

The state detector 202 of the travel management device 200 monitors thetraveling state of each mobile object in real time via at least one ofthe communicator 201, the sensor 401 and the communication device 501(step 18). The state detector 202 transmits information indicating thetraveling state of each mobile object to the replan determiner 108 viathe communicator 201 (also step 18).

The replan determiner 108 judges whether there exists at least onemobile object which cannot meet the travel plan (or the travel timingschedule) or judges whether or not replan is required due to externalfactors such as occurrence of new work on the basis of the travel planof each mobile object and the traveling state of each mobile object(step 19). The replan determiner 108 generates a replan trigger in acase where it is determined to perform replan (step 19: Yes).

In a case where the replan trigger is generated (step 19: Yes), theprocessing returns to step 11. Then, the route plans and the travelingtiming schedules of all the mobile objects (except the mobile object forwhich execution of the plan has already been finished) are updated (step11 to step 15). Then, the movement command data based on the updatedtiming schedule is transmitted to each mobile object again. Note thateach mobile object updates the movement command data received previouslywith the received movement command data.

In a case where a replan trigger is not generated (step 19: No), it isjudged whether there exists a mobile object for which the travel plan(or the travel timing schedule) has been finished. In a case where thetravel plan has been finished (step 20: Yes) for at least one mobileobject, the processing returns to step 11. Then, the route plans and thetraveling timing schedules of the mobile objects are updated (step 11 tostep 15), the movement command data based on the updated timing scheduleis retransmitted to each mobile object. In a case where there exists nomobile object for which the travel plan has been finished, theprocessing returns to step 18. The processing from step 18 to step 20 isrepeated until the replan trigger is generated or until the mobileobject for which the travel plan has been finished appears.

Details of step 15 in FIG. 9 will be described using FIG. 10, FIG. 11and FIG. 12. In the present step, even in a case where the mobileobjects travel in reverse directions on the same traveling path in therespective route plans or there exist a plurality of mobile objects withdifferent speeds, the traveling timing schedules which ensure that acollision or deadlock of the mobile objects does not occur aregenerated. In generation of the traveling timing schedules,preconditions are set such that the route plans of the respective mobileobjects are not changed.

FIG. 10 is a flowchart of an example of processing by the travel timingscheduler 105.

The travel timing scheduler 105 acquires the traveling network structureinformation (see FIG. 4 or FIG. 5) from the traveling network structurestorage 101 and acquires data of the route plans from the route planstorage 102 (step 21).

The travel timing scheduler 105 generates a timing schedule (timingschedule in an initial state) in which at least one of time at whicheach mobile object arrives at each designated area and time at whicheach mobile object departs from each designated area is specified on thebasis of the traveling network structure information and the route planof each mobile object, as an example (step 22). These timing schedulesin the initial states of the mobile objects will be collectivelyreferred to as “a timing schedule set in an initial state”. As ageneration method of a timing schedule in an initial state, informationregarding at least one of arrival time and departure time at and fromeach designated area in the route plan is set for each mobile objectusing an arbitrary method. For example, time of arrival or departure ator from each designated area is calculated on the basis of standardspeed of the mobile object and a period length required for work, andinformation of the calculated time is set. In a case where there is acondition (for example, a speed pattern) regarding speed at which themobile objects travel on each traveling path, the timing schedule isgenerated so as to satisfy the condition regarding the speed.Alternatively, it is also possible to divert part (portion after theupdate position) of the travel timing schedule which has been generatedpreviously without changing the part.

The travel timing scheduler 105 detects a pair of two mobile objectsbetween which conflict (such as deadlock or a collision) will occurfirst in a time direction and an arc (traveling path) on which theconflict will occur, on the basis of the timing schedule set in theinitial state (detection processing) (step 23). As an example, time atwhich conflict will occur first is specified for each of allcombinations of two timing schedules in the timing schedule set in theinitial state. Time which is temporally earliest among the specifiedtime is selected. A pair of two mobile objects between which conflictwill occur at the selected time is detected, and an arc (traveling path)on which the conflict will occur are also detected.

FIG. 11A is a diagram for explaining an example where conflict willoccur in a case where two mobile objects (indicated as a mobile object 1and a mobile object 2) travel in a travel network with a simplestructure. It is assumed here that the route plane of the mobile object1 and the route plan of the mobile object 2 defines that the mobileobject 1 travels back and forth between the node C and the node E, andthe mobile object 2 travels back and forth between the node F and thenode D.

Here, on the traveling path (section AB) between the node A and the nodeB, the mobile object 1 and the mobile object 2 travel in directionsreverse to each other. If the mobile object 1 and the mobile object 2keep traveling as it is, in a case where the mobile object 1 and themobile object 2 cannot travel backward on the traveling path, deadlockoccurs. Even if at least one of the mobile object 1 and the mobileobject 2 can travel backward, efficiency drastically degrades due tostop and backward traveling for avoiding a collision.

FIG. 11B is a graph indicating movement trajectories of the mobileobject 1 and the mobile object 2 over time on the basis of the timingschedules in the initial states of the mobile object 1 and the mobileobject 2. A graph with a dashed line is a graph for the mobile object 1,and a graph with a solid line is a graph for the mobile object 2.Whether or not there occurs conflict can be detected by checkingintersections of the movement trajectories for each traveling path(section). In this example, the movement trajectories of the mobileobject 1 and the mobile object 2 intersect at a point 801 in the sectionAB. Therefore, it is possible to detect occurrence of conflict betweenthe mobile object 1 and the mobile object 2 in the section AB.

FIG. 12A is a diagram for explaining another example where conflict(collision) occurs in a case where two mobile objects (indicated as amobile object 1 and a mobile object 2) travel. It is assumed here thatthe route plan of the mobile object 1 and the route plan of the mobileobject 2 defines that the mobile object 1 travels back and forth betweenthe node E and the node C, and the mobile object 2 travels back andforth between the node F and the node D.

The mobile object 1 and the mobile object 2 travel in the same directionin the section AB. Because the section AB has a traveling networkstructure in which passing is impossible, in a case where movement speedof the mobile object 1 is different from movement speed of the mobileobject 2, a rear-end collision or temporary stop can occur in thesection AB. As a result of temporary stop and re-traveling forpreventing a rear-end collision being repeated, traveling efficiency maydegrade.

FIG. 12B is a graph illustrating the movement trajectories of the mobileobject 1 and the mobile object 2 over time on the basis of the timingschedules (initial states) of the mobile object 1 and the mobile object2. A graph with a dashed line is a graph for the mobile object 1, and agraph with a solid line is a graph for the mobile object 2. While themobile object 2 departs behind the mobile object 1, because the speed ofthe mobile object 2 is faster than the speed of the mobile object 1, themobile object 2 collides with the mobile object 1 from behind. Themovement trajectory of the mobile object 1 intersects with the movementtrajectory of the mobile object 2 at a point 802, and the mobile object1 collides with the mobile object 2 at a position corresponding to thepoint 802. In this manner, it is possible to detect occurrence ofconflict between the mobile object 1 and the mobile object 2 in thesection AB.

In a case where a pair of mobile objects between which conflict mayoccur can be detected in step 23 (step 24: No), a plurality of measuresor at least one measure for avoiding the conflict is determined for anarc (conflict arc) in which the conflict will occur. For example, it ispossible to avoid the corresponding conflict by performing operation ofcausing the mobile object of one of the mobile objects in the pair towait in an arc (traveling path) or at a designated area on an upstreamside of the conflict arc. In this case, it can be said that there aretwo measures. Therefore, the timing schedule set is updated (updateprocessing) so as to change at least one of the timing schedules of atleast two mobile objects between which conflict will occur for each ofthe two measures (step 25).

It is assumed, for example, that a plurality of mobile objects 1 to H (His an integer of equal to or greater than 2) exist. In a case where themobile object 1 conflicts with the mobile object 2, there are twomeasures: a measure in which the mobile object 1 is caused to wait, anda measure in which the mobile object 2 is caused to wait. In this case,for the set of timing schedules of the mobile objects 1 to H, the set isupdated by changing at least one of the timing schedules of at least themobile object 1 and the mobile object 2 for each of the two measures.Thereby, two updated sets can be obtained from one set.

The updated timing schedule set(s) each will be referred to as “a timingschedule set in a transitioned state”. The timing schedule set beforeupdate is stored.

FIG. 11C illustrates an operation example of conflict avoidance in step25. FIG. 11C illustrates an example where conflict is avoided by themobile object 1 waiting in an arc CA which is on an upstream side of anarc (traveling path) AB or adjusting (reducing) speed in order to avoidconflict at the point 801 detected in FIG. 11B. As another method foravoiding the conflict detected in FIG. 11B, it is also possible toemploy a method in which the mobile object 2 waits on a traveling pathFB which is on an upstream side of the traveling path BA or adjusts(reduces) speed. As a result of such operation for conflict avoidancebeing performed, the movement trajectory of the mobile object 1 does notintersect with the movement trajectory of the mobile object 2 on thetraveling path AB. Therefore, conflict is avoided.

FIG. 12C and FIG. 12D illustrate another operation example of conflictavoidance in step 25. FIG. 12C illustrates an example where conflict isavoided by the mobile object 1 waiting on a traveling path EB which ison an upstream side of the traveling path BA in order to avoid conflictat the point 802 detected in FIG. 12B. The mobile object 1 is caused topass through the traveling path BA, for example, after the mobile object2 arrives at the designated area A or passes through the intersectionportion corresponding to the node A. In a similar manner, FIG. 12Dillustrates an example where conflict is avoided by the mobile object 2waiting on the traveling path FB which is on an upstream side of the BA.The mobile object 2 is caused to pass through the traveling path BA, forexample, after the mobile object 1 arrives at the designated area A orpasses through the intersection portion corresponding to the node A.

The travel timing scheduler 105 calculates an evaluation value for eachgenerated timing schedule set in the transitioned state (calculationprocessing). The travel timing scheduler 105 adds each generated timingschedule set and each evaluation value which are associated with eachother, to a search list (step 26). The search list is a list in which aplurality of timing schedule sets which are being processed aretemporarily stored.

Here, a calculation example of the evaluation value of the timingschedule is described. Traveling period lengths of traveling pathstraveled by each mobile object in a case where each mobile objecttravels on respective traveling paths without time for conflict beingadjusted (for example, traveling period lengths in a case where eachmobile object travels on the traveling paths (the route) in accordancewith a timing schedule in an initial state) are calculated as referencevalues of the traveling paths of each mobile object. For the referencevalues, a sum or a power sum of delay times due to adjustment of time iscalculated for each mobile object, the calculated values for the mobileobjects are added up. The added-up value is set as an evaluation value(penalty evaluation value). In this example, as the evaluation value issmaller, evaluation becomes higher. However, the evaluation value may bedefined so that evaluation becomes higher as the evaluation value isgreater. In this case, it is only necessary to define an inverse of theabove-described added-up value as the evaluation value. The calculationmethod of the evaluation value will be described in detail later. Thecalculation method of the evaluation value is not limited to aparticular method.

The travel timing scheduler 105 sorts the respective timing schedulesets in the transitioned states in the search list in descending orderof the evaluation values (step 27). The travel timing scheduler 105extracts a timing schedule set in a transitioned state at the head ofthe search list as a target to be searched next (also step 27). That is,one timing schedule set in a transitioned state is selected from thetiming schedule sets in the transitioned states in the search list(selection processing).

The travel timing scheduler 105 judges whether the calculation periodfalls within a predetermined time limit or whether or not the number oftimes of repetition falls within a predetermined number of times (step28). An arbitrary portion in the flowchart can be set as a target forjudging the number of times of repetition. For example, the targetedportion may be processing from step 23 to 28. If the calculation periodfalls within the time limit or the number of times of repetition fallswithin the predetermined number of times (step 28: Yes), the processingreturns to step 23. In step 23 returned, detection processing iscontinuously performed where the timing schedule in the transitionedstate extracted in step 27 is newly regarded as a timing schedule in aninitial state. The detection process includes detecting an arc at whichconflict first occurs and a pair of mobile objects which conflict in thearc (conflict detected last time or before the last time has beensolved).

In a case where conflict does not occur in the timing schedule set as aprocessing target in step 23 (step 24: Yes), the timing schedule setbecomes a candidate for a travel timing schedule set to be output.Therefore, the corresponding timing schedule set in the transitionedstate is moved to a solution list from the search list as the candidatefor the travel timing schedule set along with the evaluation value (step31). The solution list is a list in which candidates for the traveltiming schedule set to be output are temporarily stored.

The travel timing scheduler 105 sorts items in the solution list inorder of the evaluation values (step 32).

The travel timing scheduler 105 extracts the timing schedule set at thehead of the search list as the next processing target (step 33), and theprocessing returns to step 23 while this timing schedule set is regardedas the timing schedule set in the initial state.

In a case where the calculation period exceeds the time limit or thenumber of times of repetition exceeds the predetermined number of times(step 28: No), the travel timing scheduler 105 checks whether thesolution list includes at least one candidate for the travel timingschedule set (step 29). In a case where the solution list is not empty(step 29: No), a candidate for the travel timing schedule set at thehead of the solution list is output as a solution. That is, the timingschedule of each mobile object included in the candidate is output asthe travel timing schedule of each mobile object (step 30). Becauseitems in the solution list are sorted in ascending order of theevaluation values (here, evaluation is higher as the evaluation value issmaller), the candidate at the head of the solution list is a timingschedule set with the highest evaluation.

Meanwhile, in a case where the solution list is empty (step 29: Yes),the travel timing scheduler 105 extracts the timing schedule set in thetransitioned state at the head of the search list as a solution (step34). A range of a period (a plan portion which is partially completed)in which conflict is solved in the timing schedule of each mobile objectin the extracted solution is specified, and the plan portion of thespecified range is output as the travel timing schedule of each mobileobject (step 35).

FIG. 13 illustrates a conceptual diagram of search processing of thetravel timing scheduler in the flowchart in FIG. 10. A top portion inFIG. 13 corresponds to the travel timing schedule illustrated in FIG.11B (however, scale is changed).

There are two patterns of conflict avoidance measures for the travelingpath (conflict arc) on which traveling in reverse directions will occur:a measure in which the mobile object 1 is caused to wait and a measurein which the mobile object 2 is caused to wait. Time at which conflictwill occur next and the traveling path on which conflict will occur nextchange depending on which of the mobile objects is caused to wait toavoid conflict. In step 25 in FIG. 10, a timing schedule set in atransitioned state 1 can be obtained if operation of prioritizing themobile object 2 (operation of causing the mobile object 1 to wait) isperformed, and a timing schedule set in a transitioned state 2 can beobtained if operation of prioritizing the mobile object 1 (operation ofcausing the mobile object 2 to wait) is performed. Note that an outlinearrow in the drawing indicates a changed portion in the graph.

The evaluation values are respectively calculated for the timingschedule set in the transitioned state 1 and the timing schedule set inthe transitioned state 2, and the timing schedule set in thetransitioned state 1 and the timing schedule set in the transitionedstate 2 are stored in the search list along with the respectiveevaluation values (step 26 in FIG. 10). Items in the search list aresorted in ascending order of the evaluation values, and, because theevaluation value of the timing schedule set in the transitioned state 1is smaller (evaluation is higher), the timing schedule set in thetransitioned state 1 is selected (step 27 in FIG. 10).

Search recursively proceeds while the timing schedule set in thetransitioned state 1 is regarded as the timing schedule set in theinitial state (step 23 in FIG. 10), and the timing schedule set in thetransitioned state 3 and the timing schedule set in the transitionedstate 4 are obtained depending on which of the mobile object 2 and themobile object 1 is prioritized. The evaluation values are respectivelycalculated for the timing schedule set in the transitioned state 3 andthe timing schedule set in the transitioned state 4. The timing scheduleset in the transitioned state 3 and the timing schedule set in thetransitioned state 4 are stored in the search list along with therespective evaluation values (step 26 in FIG. 10).

In the search list, the timing schedule set in the transitioned state 2,the timing schedule set in the transitioned state 3, and the timingschedule set in the transitioned state 4 at this time point are storedalong with the respective evaluation values. Among these, the timingschedule set with the smallest evaluation value (with high evaluation)is selected, and processing recursively proceeds while this is regardedas the timing schedule set in the initial state (step 23).

In this manner, in the search algorithm in FIG. 10, combinations ofconflict avoidance measures are sequentially searched. If the number ofmobile objects is large or the number of conflict arcs is large, thenumber of combinations of the conflict avoidance measures becomesenormous, which typically makes it difficult to generate plans in realtime; however, in the search algorithm in FIG. 10, evaluation values ofthe timing schedule sets in the transitioned states are calculated, andsearch is preferentially performed from the timing schedule set with asmaller evaluation value (with higher evaluation). Therefore, it ispossible to perform efficient search.

At this time, by applying a search method called heuristic optimalsolution search algorithm (“A search”), it is possible to obtain atiming schedule with high evaluation in a short period of time. In the Asearch, for example, the evaluation value is calculated on the basis ofa sum of delay times for traveling paths (searched paths) for whichconflict has been solved in the target timing schedule set, andpredicted values of delay times expected for remaining traveling paths(unsearched paths) after the searched paths.

Specifically, a sum of the remaining traveling distances in the routeplans of the respective mobile objects is calculated for time after timeat which conflict is avoided last in the timing schedule set. Predictedvalues of delay times in the remaining traveling are obtained throughassumption that delays may occur at a fixed ratio depending on theremaining traveling distances. For example, traveling period lengths ina case where the mobile objects travel on the remaining travelingdistances at standard speed are calculated, and values obtained bymultiplying the traveling period lengths by a fixed coefficient arecalculated as the delay times. A sum of the calculated delay times and asum of delay times of the mobile objects before time at which theabove-described conflict occurs are added up, and the added-up value isset as the evaluation value (in a case where evaluation is higher as theevaluation value is smaller). To make setting so that evaluation becomeshigher as the evaluation value is greater, it is only necessary todefine an inverse of the added-up value as the evaluation value.

As described above, according to the present embodiment, it is possibleto efficiently make travel plans of a plurality of mobile objects whileavoiding conflict such as deadlock and/or a collision. Further, even ina case where movement in both directions on the same traveling path mustoccur, it is possible to generate traveling timing schedules whichensure that a collision or deadlock does not occur. As an example of thecase where movement in both directions on the same traveling path mustoccur, there is a case where the mobile objects travel on travelingpaths of a tree structure shape, a case for a reason of safety, or thelike. (Hardware Configuration)

FIG. 14 illustrates a hardware configuration of the travel planningdevice 100 according to any one of the first to third embodiments. Thetravel planning device 100 according to the present embodiment isconfigured with a computer device 600. The computer device 600 includesa CPU 601, an input interface 602, a display device 603, a communicationdevice 604, a main storage device 605 and an external storage device606, and these are connected to each other with a bus 607. The travelmanagement device 200 can be also configured by the hardwareconfiguration similar to that of FIG. 14.

The CPU (Central Processing Unit) 601 executes a computer program whichrealizes the above-described respective functional configurations of thetravel planning device 100 on the main storage device 605. The computerprogram may be configured by not only a single program but also aplurality of programs, scripts or combinations thereof. By the CPU 601executing the computer program, the respective functional configurationsare realized.

The input interface 602 is a circuit for inputting an operation signalfrom the input device such as a keyboard, a mouse and a touch panel, tothe travel planning device 100.

The display device 603 displays data or information output from thetravel planning device 100. While the display device 603 is, forexample, an LCD (Liquid Crystal Display), a CRT (Cathode-Ray Tube), anda PDP (Plasma Display Panel), the display device 603 is not limited tothis. The data or the information output from the computer device 600can be displayed by this display device 603.

The communication device 604 is a circuit for the travel planning device101 to communicate with an external device in a wireless or wiredmanner. Information can be input from the external device via thecommunication device 604. Information input from the external device canbe stored in a DB. A constitution for performing communication in thetravel planning device can be constructed on the communication device604.

The main storage device 605 stores a program which realizes processingof the present embodiment, data required for execution of the program,data generated by execution of the program, and the like. The program isdeveloped and executed on the main storage device 605. While the mainstorage device 605 is, for example, a RAM, a DRAM and an SRAM, the mainstorage device 605 is not limited to this. The storage in eachembodiment may be constructed on the main storage device 605.

The external storage device 606 stores the above-described program, datarequired for execution of the program, data generated by execution ofthe program, and the like. These kinds of program and data are read outto the main storage device 605 upon processing of the presentembodiment. While the external storage device 606 is, for example, ahard disk, an optical disk, a flash memory and a magnetic tape, theexternal storage device 606 is not limited to this. The storage in eachembodiment may be constructed on the external storage device 606.

Note that the above-described program may be installed in the computerdevice 600 in advance or may be stored in a storage medium such as aCD-ROM. Further, the program may be uploaded on the Internet.

Further, the travel planning device 100 may be configured with a singlecomputer device 600 or may be configured as a system including aplurality of computer devices 100 which are connected to each other.

Second Embodiment

FIG. 15 illustrates an example of an entire system configurationincluding a travel planning system according to a second embodiment.Each mobile object includes a route planner 309 and a route plan storage302, and the travel planning device 100 does not include a routeplanner. The route planner 309 has functions similar to those of theroute planner 109 in FIG. 1.

The route planner 309 of each mobile object autonomously determines aroute plan and stores the route plan in the route plan storage 302.Further, each mobile object transmits data of the route plan to thetravel planning device 100 via the communicator 201 of the travelmanagement device 200 or the communication device 501. The travelplanning device 100 stores the route plan of each mobile object in theroute plan storage 102. The route planner 309 does not have to beprovided at each mobile object, and a rout (traveling paths) of eachmobile object may be stored in the route plan storage 302 of each mobileobject in advance.

In the second embodiment, a case is assumed where each mobile object isan autonomous type mobile robot including SLAM, an autonomous travelingvehicle, construction machine, or the like, and travels on the route(traveling paths) under management of the travel planning device 100 andthe travel management device 200. Because the route plan of each mobileobject is determined in advance or each mobile object autonomouslydetermines a route plan, a case is assumed where the route plan of eachmobile object cannot be freely changed on the travel planning device 100side and the travel management device 200 side. Even in such a case, byappropriately generating the travel timing schedule at the travelplanning device 100 and instructing each mobile object on the movementcommand data, it is possible to ensure traveling in which a collision,deadlock, or the like, does not occur. If the travel timing schedulewhich prevents occurrence of a collision or deadlock cannot begenerated, the travel planning device 100 may transmit a request forchanging the route plan to each mobile object via the travel managementdevice 200.

Third Embodiment

FIG. 16 illustrates an example of an entire system configurationincluding a travel planning system according to a third embodiment. Inthe present embodiment, while basic functional parts are the same asthose in the first or the second embodiment, at least one mobile objectincludes functions corresponding to the travel planning device (or thetravel planning system). Other mobile objects include a route planner309, a route plan storage 302 and a communicator 310. The communicator310 performs wireless communication with other mobile objects.

One mobile object among mobile objects having functions corresponding tothe travel planning device becomes a master. In the drawing, an exampleis illustrated where a mobile object 301_X becomes a master. The mastermay be determined through, for example, negotiation among mobile objectshaving functions corresponding to the travel planning device.Alternatively, the master may be determined in accordance with prioritydetermined in advance. For example, a mobile object with the highestperformance or a mobile object with a largest remaining battery amountmay become the master. The master may be determined using other methods.

The route planners 309 of mobile objects other than the mobile object301_X autonomously determine route plans, and then transmit the routeplans to the mobile object 301_X which becomes the master.Alternatively, the route plans may be stored in advance in the routeplan storage 302. In this case, the route planner 309 reads out data ofthe route plan within the route plan storage 302 without generating theroute plan by itself and transmits the data to the master.

The mobile object 301_X which becomes the master collectively generatestraveling timing schedules of a plurality of mobile objects includingthe own mobile object. The master generates a timing schedule of eachmobile object so that the route plan of each mobile object is notchanged. The mobile object 301_X transmits the movement command databased on the travel timing schedule of each mobile object to each mobileobject. Each mobile object controls traveling on the basis of themovement command data. By this means, it is possible to realizeefficient traveling as a whole in which a collision, deadlock, or thelike, does not occur.

Mobile objects other than the mobile object 301_X do not have to includethe route planner 309 and the route plan storage 302. In this case, themobile objects other than the mobile object 301_X perform operationsimilar to that of the mobile object which can perform communicationwith the communicator 201 of the travel management device 200 among themobile objects in the first embodiment.

The information detected by the state detector 202 in the first or thesecond embodiment is detected by each mobile object by itself in thethird embodiment, and transmitted to the travel planning device 100 viathe communicator 310.

In the third embodiment, a case is assumed where each mobile object isan autonomous type mobile robot which include SLAM, an autonomoustraveling vehicle, construction machine, or the like, and travels in atravel network having a structure in which traveling in a reversedirection or passing occurs on a single-line traveling path. Because theroute plan of each mobile object is determined in advance or each mobileobject autonomously determines the route plan, a case is assumed whereother persons cannot freely change the route plan. Also in such a case,by the mobile object which becomes the master appropriately generatingthe travel timing schedule and instructing each mobile object on thetravel timing schedule, it is possible to ensure traveling in which acollision or deadlock does not occur. If the travel timing schedulewhich prevents occurrence of a collision or deadlock cannot begenerated, the mobile object which becomes the master may transmit arequest for changing the route plan to other mobile objects.

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the inventions.

The invention claimed is:
 1. An information processing apparatus for aplurality of mobile objects which travel in a travel network including aplurality of traveling paths, comprising: first processing circuitryconfigured to generate a plurality of traveling timing schedulesincluding timings of traveling on the traveling paths for the pluralityof mobile objects under a condition that conflict among the mobileobjects does not occur on the traveling paths, based on: positioninformation of the plurality of mobile objects; structure information ofthe travel network; and a plurality of route plans which designatesorder of passing through one or more designated areas in the travelnetwork for the plurality of mobile objects; and second processingcircuitry configured to transmit movement command data far the pluralityof mobile objects on a basis of the plurality of traveling timingschedules, wherein the conflict includes at least one of existence oftwo or more of the mobile objects which travel in reverse directions ona traveling path at a same time. arrival of the two or more mobileobjects at an intersection portion leading to the traveling path at asame time, or another mobile object passing through the traveling pathin a state Where one or more of the mobile objects wait at anintersection portion leading to the traveling path.
 2. The informationprocessing apparatus according to claim 1, wherein the first processingcircuitry detennines at least one of time at which the mobile obectsarrive at the designated areas and time at which the mobile objectsdepart from the designated areas and generates the plurality oftraveling timing schedules based on the at least one of time.
 3. Theinformation processing apparatus according to claim 1, wherein the routeplans include a condition regarding speed at which the mobile objectstravel on the traveling paths, and wherein the first processingcircuitry generates the traveling timing schedules based on thecondition regarding the speed.
 4. The information processing apparatusaccording to claim 1, wherein the first processing circuitry schedulesto: cause a first mobile object to wait at a position distant from oneend portion of a traveling path or in a designated area before the oneend portion and cause a second mobile object to travel from another endportion of the traveling path to the one end portion of the travelingpath during a time period when the first mobile object waits.
 5. Theinformation processing apparatus according to claim 1, wherein the firstprocessing circuitry adjusts speed of a first mobile object in a casewhere the first mobile object travels from another end portion of atraveling path to one end portion of the traveling path, and wherein thefirst mobile object does not arrive at the other end portion before asecond mobile object completes traveling from the one end portion of thetraveling path to the other end portion of the traveling path.
 6. Theinformation processing apparatus according to claim 1, wherein speed ofa first mobile object on a traveling path is scheduled to be slower thanspeed of a second mobile object, and wherein the first processingcircuitry schedules to cause the first mobile object to wait at aposition distant from one end portion or in a designated area before theone end portion before the first mobile object enters from the one endportion of the traveling path, and cause the second mobile object totravel from the one end portion of the traveling path to another endportion of the traveling path during a time period when the first mobileobject waits.
 7. The information processing apparatus according to claim1, wherein speed of a first mobile object on a traveling path isscheduled to be slower than speed of a second mobile object, and whereinthe first processing circuitry schedules adjust the speed of the secondmobile object wherein the second mobile object travels from one endportion to another end portion of the traveling path after the firstmobile object arrives at the other end portion of the traveling pathtravels from the one end portion of the traveling path.
 8. Theinformation processing apparatus according to claim 1, wherein the firstprocessing circuitry generates timing schedules for the mobile objectswhich specify at least one of time at which the mobile objects arrive atthe designated areas and time at which the mobile objects depart fromthe designated areas based on the route plans of the mobile objects,performs detection processing of detecting a traveling path on whichconflict among the mobile objects occurs first for a set of the timingschedules, determines a plurality of measures for avoiding the conflictand performs update processing of the set by changing a timing scheduleof at least one of the mobile objects for which the conflict occurs inthe set, for each of the determined measures, the updated sets aregenerated for the determined measures, performs calculation processingof evaluation values of the updated sets, performs selection processingof one of the updated sets based on the evaluation values, performssearching which repeats the detection processing, the update processing,the calculation processing and the selection processing on the selectedset, selects one updated set among updated sets obtained through thesearch based on evaluation values thereof, and determines the timingschedules included in the selected updated set as the travel timingschedules of the mobile objects.
 9. The information processing apparatusaccording to claim 8, wherein the first processing circuitry calculatesthe evaluation value based on a sum of: (1) delay times of the pluralityof mobile objects until time at which the conflict occurs, and (2)predicted delay times depending on remaining traveling distances of theplurality of mobile objects after the time at which the conflict occurs.10. The information processing apparatus according to claim 1, whereinthe second processing circuitry sequentially transmits a first commandand a second command, as the movement command data, wherein the firstcommand instructs at least one of the mobile objects to stop at aposition at which the at least one of the mobile objects should stop forwaiting, and wherein the second command instructs the at least one ofthe mobile objects to depart from the position where the at least one ofthe mobiles object waits.
 11. The infomation processing apparatusaccording to claim 1, wherein the second processing circuitry specifiespassing order for the plurality of mobile objects to pass through thedesignated area based on the traveling timing schedules, wherein themovement command data gives an instruction to pass through thedesignated area in accordance with the specified passing order, andwherein the information processing apparatus further comprisescommunication circuitry configured to transmit identificationinformation of mobile objects which have passed through the designatedarea to at least the mobile objects which have not passed through thedesignated area.
 12. The information processing apparatus according toclaim 1, wherein the first processing circuitry determines whether ornot perform replan of the traveling timing schedules of the plurality ofmobile objects based on the traveling tuning schedules and the positioninformation of the plurality of mobile objects; and wherein the firstprocessing circuitry determines update positions at which the travelingtiming schedules are updated for the plurality of mobile objects in acase where the first processing circuitry determines to perform thereplan, wherein the first processing circuitry updates plan portionsafter the update positions in. the route plans.
 13. The informationprocessing apparatus according to claim 12, further comprising:communication circuitry configured to perform communication with themobile objects via at least one communication device disposed along atleast one of the traveling paths in the travel network, wherein theupdate positions are positions within a range of communication with theat least one communication device, and wherein the second processingcircuitry transmits the movement command data based on the updatedtraveling timing schedules to the mobile objects existing at the updatepositions.
 14. The information processing apparatus according to claim12, wherein the first processing circuitry determines whether arrival ofthe mobile object at the designated area is delayed by a period lengthequal to or longer than a threshold and, wherein the first processingcircuitry determines to perform replan of the traveling, timingschedules of the plurality of mobile objects if the arrival is delayed.15. The information processing apparatus according to claim 1, whereinthe first processing circuitry generates the plurality of route plans ofthe plurality of mobile objects based on an evaluation criterion ofreducing a sum of distances of the traveling paths traveled by two ormore mobile objects travel in reverse directions at a same time.
 16. Theinformation processing apparatus according to claim 1, furthercomprising: communication circuitry configured to receive the routeplans from the plurality of mobile objects, wherein the first processingcircuitry generates the traveling timing schedules using the route plansreceived from the plurality of mobile objects.
 17. A travel planningmethod for a plurality of mobile objects which travel in a travelnetwork including a plurality of traveling paths, comprising: generatinga plurality of traveling timing schedules including timings of travelingon the traveling paths for the plurality of mobile objects under acondition that conflict among the mobile objects does not occur on thetraveling paths, based on: position information of the plurality ofmobile objects, structure information of the travel network; and aplurality of route plans which designates order of passing through oneor more designated areas in the travel network for the plurality ofmobile objects; and transmitting movement command data for the pluralityof mobile objects on a basis of the plurality of traveling timingschedules, wherein the conflict includes at least one of: existence oftwo or more of the mobile objects which travel in reverse directions ona traveling path at a same time, arrival of the two or more mobileobjects at an intersection portion leading to the traveling path at asame time, or another mobile object passing through the traveling pathin a state where one or more of the mobile objects wait at anintersection portion leading to the traveling path.
 18. A non-transitorycomputer readable medium having a computer program stored Which, whenexecuted by a computer, cases the computer to perform a travel planningmethod for a plurality of mobile objects which travel in a travelnetwork including a plurality of traveling paths, the travel planningmethod comprising: generating a plurality of traveling timing schedulesincluding timings of traveling on the traveling paths for the pluralityof mobile objects under a condition that conflict among the mobileobjects does not occur on the traveling paths, based on: positioninformation of the plurality of mobile objects; structure information ofthe travel network; and a plurality of route plans which designatesorder of passing through one or more designated areas in the travelnetwork for the plurality of mobile objects; and transmitting movementcommand data for the plurality of mobile objects on a basis of theplurality of traveling timing schedules, wherein the conflict includesat least one of: existence of two or more of the mobile objects whichtravel in reverse directions on a traveling path at a same time, arrivalof the two or more mobile objects at an intersection portion leading tothe traveling path at a same time, or another mobile object passingthrough the traveling path in a state where one or more of the mobileobjects wait at an intersection portion leading to the traveling path.